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For a continuous sequence of APB accesses to the same peripheral, PSEL would remain high and PENABLE would be de-asserted for one cycle at the start of each individual APB access to indicate the "setup phase".

See figure 4-1 in the APB protocol documentation, which shows the APB state diagram. When you are in the "ACCESS" bubble (PSEL=1 and PENABLE=1) and completing an access (PREADY=1), to perform another access immediately you follow the arrow on the right taking you immediately back to the "SETUP" bubble where PSEL=1 and PENABLE=0.